robot_monitor.py

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#!/usr/bin/env python
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##\brief Uses robot monitor panel to display aggregated diagnostics

##\author Kevin Watts

PKG = 'robot_monitor'

import roslib
roslib.load_manifest('robot_monitor')

import rospy

WXVER = '2.8'
import wxversion
if wxversion.checkInstalled(WXVER):
  wxversion.select(WXVER)
else:
  print >> sys.stderr, "This application requires wxPython version %s"%(WXVER)
  sys.exit(1)

from robot_monitor.robot_monitor_panel import RobotMonitorPanel
import wx


##\brief Main frame of robot monitor
class RobotMonitorFrame(wx.Frame):
    def __init__(self, parent, title):
        wx.Frame.__init__(self, parent, wx.ID_ANY, title)

        self._sizer = wx.BoxSizer(wx.VERTICAL)
        self._panel = RobotMonitorPanel(self)
        self._sizer.Add(self._panel, 1, wx.EXPAND)
        self.SetSizer(self._sizer)
        
        self._shutdown_timer = wx.Timer()
        self._shutdown_timer.Bind(wx.EVT_TIMER, self._on_shutdown_timer)
        self._shutdown_timer.Start(100)
        
    def _on_shutdown_timer(self, event):
        if (rospy.is_shutdown()):
            self.Close()

##\brief wxApp of robot monitor
class RobotMonitorApp(wx.App):
    def OnInit(self):
        rospy.init_node('robot_monitor', anonymous=True)

        wx.MessageBox("robot_monitor.py is deprecated, please use robot_monitor instead", "Deprecated", wx.OK|wx.ICON_WARNING)
        
        self._frame = RobotMonitorFrame(None, 'Robot Monitor')
        self._frame.SetSize(wx.Size(500, 700))
        self._frame.Layout()
        self._frame.Show(True)
        return True
        
        
if __name__ == '__main__':
    try:
        app = RobotMonitorApp()
        app.MainLoop()
    except KeyboardInterrupt, e:
        pass
    except rospy.exceptions.ROSInitException, e:
        print 'Failed to initialize node, master probably isn\'t up.'
    except Exception, e:
        import traceback
        traceback.print_exc()